CN113834432B - Device and method for calibrating slender metallurgical tool based on laser ranging sensor - Google Patents
Device and method for calibrating slender metallurgical tool based on laser ranging sensor Download PDFInfo
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- CN113834432B CN113834432B CN202010578857.7A CN202010578857A CN113834432B CN 113834432 B CN113834432 B CN 113834432B CN 202010578857 A CN202010578857 A CN 202010578857A CN 113834432 B CN113834432 B CN 113834432B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K15/00—Testing or calibrating of thermometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K15/00—Testing or calibrating of thermometers
- G01K15/005—Calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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Abstract
The invention discloses a device and a method for calibrating a slender metallurgical tool based on a laser ranging sensor, belonging to the technical field of steel manufacturing control, wherein a temperature measurement/sampling tool is driven by an industrial robot to enable a standard temperature measurement/sampling gun to enter a calibration area, the standard temperature measurement/sampling gun reciprocates near the laser ranging sensor, obtaining a standard axis by using an identification device based on a laser ranging sensor to carry out vector on a generatrix of the standard temperature measuring/sampling gun, adjusting the position and the posture of a tool until the axis of the standard temperature measuring/sampling gun is parallel to the set standard axis, at the same time, the TCP point at the end of the temperature measurement/sampling tool is positioned and identified to obtain the tool coordinate system, and the deformation of the standard temperature measurement/sampling gun can be detected in the calibration process, so that the accuracy and stability of the operation of the robot system are ensured.
Description
Technical Field
The invention relates to the technical field of steel manufacturing control, in particular to a device and a method for calibrating a slender metallurgical tool based on a laser ranging sensor.
Background
In the LF, EAF and other working sections of the steel smelting process, the tool for measuring temperature/sampling can generally reach the length of 3.0-4.5m, and the diameter of the tool is generally not more than 0.1m, so that the tool has obvious slender characteristic. The temperature measuring/sampling tool is fixedly connected to the tail end of a flange plate of a driving device (a typical driving device is an industrial robot with 6 degrees of freedom, hereinafter referred to as a robot for short), the position and the posture of the driving device can be changed along with the robot, the front end of the temperature measuring/sampling tool is connected with a standard temperature measuring/sampling gun through threads, and the main operation part of the tool in the sleeving process and the temperature measuring/sampling operation process of a probe is the standard temperature measuring/sampling gun, so that the accurate pose relation between the standard temperature measuring/sampling gun and the flange plate of the robot is required to be maintained in order to ensure the accuracy and stability of the operation of a temperature measuring/sampling system of the robot.
Due to factors such as manufacturing errors, assembly errors, self deflection and long-term external force applied in the using process, the temperature measuring/sampling tool and the design model have great difference, the axis of the standard temperature measuring/sampling gun and the axis of the temperature measuring/sampling tool body are difficult to be concentrically superposed in the true sense, and due to space limitation caused by the large-scale characteristic of the temperature measuring/sampling tool, the slender tool is not suitable for calibrating the tool coordinate system by using a tool coordinate system calibration method carried by a robot, so an external device is required to be designed to assist the temperature measuring/sampling tool in calibrating the coordinate system.
In addition, the standard temperature measuring/sampling gun is easy to deform after multiple operations, and therefore, an external device needs to be designed, and the deformation value of the standard temperature measuring/sampling gun measured by the external device is close to or exceeds the allowable value, so that the standard temperature measuring/sampling gun is prompted to replace, and the accuracy and stability of the operation of the robot system are ensured.
Disclosure of Invention
In view of this, the present invention provides a device and a method for calibrating a slender metallurgical tool based on a laser ranging sensor, wherein the laser ranging sensor mounted externally is used to calibrate a tool coordinate system of a temperature measurement/sampling tool and perform deformation detection on a standard temperature measurement/sampling gun.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for calibrating a slender metallurgical tool based on a laser ranging sensor comprises the following steps:
step 1: the temperature measurement/sampling tool enables a standard temperature measurement/sampling gun to enter a calibration area under the driving of the robot;
and 2, step: the standard temperature/sampling gun reciprocates along the Z direction of the robot world coordinate system in the direction near the laser ranging sensor to find a point P1 (X)P1,YP1,ZP1)；
And 3, step 3: the standard temperature measuring/sampling gun moves along the + Y direction of the world coordinate system of the robot by a distance d for feeding;
and 4, step 4: the standard temperature/sampling gun reciprocates in the Z direction of the robot world coordinate system near the laser range sensor to find point P2 (X)P2,YP2,ZP2)；
And 5: according to the step 2 and the step 4, the obtained vector P2P1 is taken as a standardPart of a certain generatrix on the thermometric/sampling gun, vector P2P1 has the expression P ═ X (X)P1-XP2,YP1-YP2,ZP1-ZP2) The expression for the standard axis is a ═ (0, | P2P1|,0), where: xP1-XP2＝LDP1-LDP2，YP1-YP2＝d，ZP1-ZP2The Z coordinate difference of the two teaching points of the robot under the world coordinate system of the robot is obtained;
step 6: according to the calculation result of the standard axis A obtained in the step 5, adjusting the position and posture of the temperature measuring/sampling tool until the axis of the standard temperature measuring/sampling gun is parallel to the standard axis A;
and 7: and (3) moving the standard temperature measurement/sampling gun along the-Y direction of the world coordinate system of the robot, searching a TCP point, and obtaining a tool coordinate system corresponding to the temperature measurement/sampling tool after obtaining the TCP point, wherein the tool coordinate system is recorded as o-xyz.
Further, the method for finding the point P1 in the step 2 and the method for finding the point P2 in the step 4 have two methods:
A. searching positions with the minimum reading number of the laser ranging sensor in the scanning range, and recording the positions as P1 and P2;
B. and searching the upper edge and the lower edge of the section of the standard temperature measurement/sampling gun in the scanning range, and calculating to obtain the coordinates of P1 and P2.
Further, when the moving and feeding distance d in step 3 is the installation distance of two laser distance measuring sensors arranged in a side-by-side/side-by-side staggered manner, step 3 is omitted.
Further, in step 5, the obtained vector P2P1 is referred to as P ═ P (P)1,p2,p3) The standard axis vector is denoted as (a)1,a2,a3) Then, P passes through the rotation axis R and rotates by an angle
So as to obtain the A (alpha-beta,
wherein the angle of rotation
Comprises the following steps:
the rotation axis R is:
unit vector R corresponding to rotation axis R0Comprises the following steps:
through the formula of the rodlike rotation, a rotation matrix T which is rotated from a vector P to a vector A is obtained as follows:
and obtaining corresponding Euler angles according to the sequence of the selected Euler angles, and realizing the positioning of the axis.
Further, the vector P2P1 on one bus obtained theoretically in step 5 only needs coordinates of two points P1 and P2, and in practical application, a redundant point P3 needs to be added as a check of the scanning result to determine the vector P2P 1.
Furthermore, in the step 7, a laser ranging sensor is used to assist in calibrating the verification result in the process of moving the temperature measurement/sampling tool to search for the TCP point, and the readings of the laser ranging sensor are used for detecting the reliability of the axial calibration result and the deformation of the standard temperature measurement/sampling gun.
A device for calibrating a slender metallurgical tool based on a laser ranging sensor comprises a plurality of typical laser ranging sensors and installation parts outside the laser ranging sensors.
Furthermore, the number of the typical laser ranging sensors is 1-2, the typical laser ranging sensors have a digital quantity detection function, and the detection range of the digital quantity/analog quantity of the typical laser ranging sensors is selected according to the space scale and the field space scale of the temperature measurement/sampling tool.
Further, the shape of the typical laser ranging sensor is indicated, three surfaces of the typical laser ranging sensor are indicated as a surface a, a surface B and a surface C, and three surfaces opposite to the three surfaces are indicated as a surface a-1, a surface B-1 and a surface C-1, respectively, wherein: the C-plane is a laser emitting/receiving plane, and typical arrangement forms of the typical laser ranging sensors include single installation, two side-by-side staggered installation, two orthogonal staggered installation and the like.
After the technical scheme is adopted, the invention has the following advantages:
1. the invention provides a device and a method for calibrating a slender metallurgical tool based on a laser ranging sensor.
2. According to the technical scheme, deformation of the standard temperature measuring/sampling gun after repeated operation can be detected in the process of calibrating the standard temperature measuring/sampling gun by the external calibration device based on the laser ranging sensor, when the measured deformation value of the standard temperature measuring/sampling gun is close to or exceeds an allowable value, the standard temperature measuring/sampling gun can be accurately and timely prompted to be replaced, and the accuracy and stability of operation of a temperature measuring/sampling system of the robot are ensured.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a prior art industrial robot and temperature measurement/sampling tool configuration;
FIG. 2 is a schematic view of a standard thermometric/sampling gun mounted on the front end of a prior art thermometric/sampling tool;
FIG. 3 is a schematic diagram of a standard probe sleeved temperature measuring/sampling gun of the prior art;
FIG. 4 is a tool coordinate system for calibration according to the present invention;
FIG. 5 is a schematic external view of a laser range sensor of the present invention;
fig. 6 is a schematic diagram of the arrangement of the calibration device of the present invention, wherein (a) corresponds to a single calibration device; (b) the (b-I) and the (b-II) correspond to two calibration devices which are arranged side by side; (c) the (c-I) and the (c-II) are corresponding to two calibration devices which are arranged orthogonally;
FIG. 7 is a schematic view of the calibration area of the present invention;
FIG. 8 is a schematic view of a standard thermo/sample gun (4) of the present invention moving in the Z direction to find point P1;
FIG. 9 is a schematic view of the standard temperature measuring/sampling gun (4) of the present invention moving a distance d in the Y direction;
FIG. 10 is a schematic view of a standard temperature measuring/sampling gun (4) of the present invention moved into position in the Y direction;
FIG. 11 is a schematic view of a standard thermo/sample gun (4) of the present invention moving in the Z direction to find point P2;
FIG. 12 is a schematic view of a measured generatrix vector P of the present invention;
FIG. 13 is a schematic view of the present invention adjusting tool pose to a standard axis;
FIG. 14 is a schematic view of the Y-direction movement of the standard temperature measuring/sampling gun (4) of the present invention to find TCP;
FIG. 15 is a schematic view of a tool coordinate system used for calibration of the present invention;
FIG. 16 is a schematic diagram of a standard axis transformation of the present invention;
FIG. 17 is a schematic diagram of the verification calibration result and deformation detection according to the present invention;
FIG. 18 is a diagram of a calibration area, a tool coordinate system, and a robot world coordinate system according to the present invention. Reference numerals: 1. an industrial robot (6 degrees of freedom); 2. a flange plate at the tail end of the robot; 3 temperature measurement/sampling tool; 4. a standard temperature measuring/sampling gun; 5. a probe; 6. a laser ranging sensor; 7. a calibration device; 8. a tool coordinate system; 9. a robot world coordinate system; 10 calibration area.
Detailed Description
The technical scheme of the invention is specifically explained in the following with the accompanying drawings of the specification.
The detailed features and advantages of the invention are described in detail in the detailed description which follows, and will be readily apparent to those skilled in the art from the description, claims and drawings.
First embodiment
As shown in fig. 1-4, in the prior art, a temperature measurement/sampling tool 3 is usually mounted on a flange 2 at the end of a robot, has an obvious slender characteristic, and can change position and posture along with the robot 1, a standard temperature measurement/sampling gun 4 is connected to the front end of the temperature measurement/sampling tool 3 through a thread, and a main operation part on the tool is the standard temperature measurement/sampling gun 4 in the sleeving process and the temperature measurement/sampling operation process of a probe 5, so as to ensure the accuracy and stability of the operation of the temperature measurement/sampling system performed by the robot.
The embodiment provides a device for calibrating an elongated metallurgical tool based on a laser ranging sensor, and the device for calibrating comprises a typical laser ranging sensor 6 and a calibrating device 7 outside the laser ranging sensor 6. Wherein: the number of the typical laser distance measuring sensors 6 is 1-2, and the laser distance measuring sensors 6 are all provided with digital quantity detection functions.
As shown in fig. 5, the shape of the typical laser ranging sensor 6 is indicated, and 3 faces of the typical laser ranging sensor 6 are indicated as a face a, a face B, and a face C, and three faces opposite thereto are indicated as a-1 face, a face B-1 face, and a face C-1 face, respectively, where the face C is a laser emitting/receiving plane. The detection range of the digital quantity/analog quantity of the laser ranging sensor 6 on the calibration device 7 needs to meet the measurement requirement, and the range needs to be selected according to the space scale and the field space scale of the temperature measurement/sampling tool 3.
As shown in fig. 6, the typical arrangement of the typical laser ranging sensor includes a single installation, two side-by-side installations, two side-by-side staggered installations, two orthogonal staggered installations, and the like. In fig. 6: (a) comprises 1 laser ranging sensor; (b) the system comprises 2 laser ranging sensors which are arranged side by side, and the difference mainly lies in the difference of the installation and fixing directions of the sensors; (c) contains 2 orthogonally mounted laser ranging sensors, the difference being mainly that the lasers of the 2 laser ranging sensors in figure (c) converge together.
When a typical laser ranging sensor 6 is installed, the conversion relation between the laser emitting/receiving plane (C-plane) of the laser ranging sensor 6 and the world coordinate system 9 of the robot 1 is easy to obtain, the measurement range of the laser ranging sensor 6 in the installation form meets the measurement requirement on the temperature measurement/sampling tool 3, and the specific installation and arrangement mode of the calibration device 7 is determined according to the field environment condition where the robot 1 is installed.
A calibration device 7 based on a laser ranging sensor 6 identifies and positions a vector on a bus of a standard temperature measurement/sampling gun 4, a robot 1 is used for adjusting the posture of a temperature measurement/sampling tool 3 to a state that the axis of the temperature measurement/sampling tool is parallel to the standard axis according to a positioning result, a TCP point (namely a tool tail end central point) at the tail end of the temperature measurement/sampling tool 3 is positioned in the state, a tool coordinate system 8 is obtained according to obtained data, the obtained coordinate origin o of a typical tool coordinate system 8 is located at the TCP point of the standard temperature measurement/sampling gun 4, the y axis is coincident with the standard axis of the tool coordinate system, and the tool coordinate system 8 is a right-hand coordinate system.
The detailed implementation steps of the tool coordinate system 8 calibration of the elongated temperature measurement/sampling tool 3 based on the external calibration device 7 of the laser distance measuring sensor 6 are described by the installation scheme shown in fig. 6 (a):
in this embodiment, the laser emitting/receiving plane (C-plane) of the laser range-finding sensor 6 is parallel to the O-YZ plane in the robot world coordinate system 9, which is a schematic diagram of the O-XYZ three-axis directions of the robot world coordinate system 9.
As shown in fig. 7, step 1: the temperature measurement/sampling tool 3 enables the standard temperature measurement/sampling gun 4 to enter a calibration area 10 under the driving of the robot 1;
as shown in fig. 8, step 2: the standard thermo/sampling gun 4 moves back and forth in the Z direction near the laser range sensor 6 to find point P1 (X)P1,YP1,ZP1)；
As shown in fig. 9 and fig. 10, step 3: the standard thermometric/sampling gun 4 is fed along the + Y direction movement distance d; further, when the moving feed distance d in step 3 is the installation distance of two laser ranging sensors arranged in a side-by-side/side-by-side staggered manner, step 3 may be omitted.
As shown in fig. 11, step 4: the standard thermo/sample gun 4 reciprocates in the Z direction near the laser range sensor 6 to find point P2 (X)P2,YP2,ZP2) (ii) a Wherein: the methods for finding the point P1 in the step 2 and the point P2 in the step 4 are two methods:
A. positions with the minimum laser ranging sensor reading number in the scanning range are found and recorded as P1 and P2;
B. and searching the upper edge and the lower edge of the section of the standard temperature measurement/sampling gun in the scanning range, and calculating to obtain the coordinates of P1 and P2.
As shown in fig. 12, step 5: the resulting vector P is part of a certain generatrix of the standard thermo/sampling gun 4, and is expressed as P ═ XP1-XP2,YP1-YP2,ZP1-ZP2) Wherein X isP1-XP2＝LDP1-LDP2，LDPXFor an analog indication, Y, of the laser range sensor 6 at this point PXP1-YP2＝d，ZP1-ZP2The coordinate difference of 2 teaching points Z of the robot is obtained, the expression of a standard axis is A ═ 0, | P2P1|,0, and in a three-dimensional Cartesian coordinate system, the obtained vector P is recorded as: p ═ P (P)1,p2,p3) The standard axis vector is denoted as A ═ a1,a2,a3) According to the shaft angle conversion type, P is rotated by rotating the shaft around the rotating shaft R
Then a can be obtained.
Wherein the angle of rotation
Comprises the following steps:
the rotation axis R is:
unit vector R corresponding to rotation axis R0Comprises the following steps:
by the Rodrigues' rotation format, we get the rotation matrix T from vector P to vector a as:
and obtaining corresponding Euler angles according to the sequence of the selected Euler angles, and realizing the positioning of the axis.
As shown in fig. 13, step 6: according to the calculation result of the standard axis A obtained in the step 5, adjusting the position and posture of the temperature measuring/sampling tool until the axis of the standard temperature measuring/sampling gun is parallel to the standard axis A;
as shown in fig. 14, 15 and 16, step 7: the standard temperature measurement/sampling gun moves along the-Y direction, a TCP point is searched, and after the TCP point is obtained, a tool coordinate system corresponding to the temperature measurement/sampling tool 3 is obtained and recorded as o-xyz.
Second embodiment
As shown in fig. 17, the second embodiment of the present invention is similar to the first embodiment except for the following design changes. A calibration device 7 based on a laser ranging sensor 6 assists in calibrating a verification result in the process of finding a TCP point by moving the temperature measurement/sampling tool 3; the indication of the laser distance measuring sensor 6 can be used for detecting the reliability of the axial calibration result and the deformation of the gun body.
Finally, it should be noted that while the present invention has been described with reference to the specific embodiments thereof, it should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and various equivalent changes and substitutions may be made therein without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (8)
1. A method for calibrating a slender metallurgical tool based on a laser ranging sensor is characterized by comprising the following steps:
step 1: the temperature measurement/sampling tool (3) enables the standard temperature measurement/sampling gun (4) to enter a calibration area (10) under the driving of the robot (1);
and 2, step: the standard temperature measurement/sampling gun (4) reciprocates along the Z direction of the robot world coordinate system near the laser distance measurement sensor (6) to find a point P1 (X)P1,YP1,ZP1)；
And step 3: the standard temperature measurement/sampling gun (4) moves along the + Y direction of the robot world coordinate system for a distance d to feed;
and 4, step 4: the standard temperature measurement/sampling gun (4) reciprocates along the Z direction of the robot world coordinate system near the laser distance measurement sensor (6) to find a point P2 (X)P2,YP2,ZP2)；
And 5: according to the step 2 and the step 4, a vector P between the point P2 and the point P1 and a standard axis vector A are obtained, and the expression of the vector P is as follows: p ═ XP1-XP2,YP1-YP2,ZP1-ZP2) The expression of the standard axis vector a is: a ═ 0, | P2P1|,0, where: xP1-XP2＝LDP1-LDP2，LDP1、LDP2Respectively laser ranging sensor6 analog scalar values at Point P1 and Point P2, YP1-YP2＝d，ZP1-ZP2Obtaining a Z coordinate difference value of two teaching points of the robot;
step 6: according to the calculation result of the standard axis A obtained in the step 5, adjusting the pose of the temperature measurement/sampling tool (3) until the axis of the standard temperature measurement/sampling gun (4) is parallel to the standard axis A;
and 7: the standard temperature measurement/sampling gun (4) moves along the-Y direction, the central point of the tail end of the tool, namely a TCP point, is searched, a tool coordinate system (8) corresponding to the temperature measurement/sampling tool (3) is determined according to the TCP point and is recorded as o-xyz,
the method for finding the point P1 in the step 2 and the method for finding the point P2 in the step 4 are two methods:
A. positions with the minimum reading number of the laser ranging sensor (6) in the scanning range are found and recorded as P1 and P2;
B. and searching the upper edge and the lower edge of the section of the standard temperature measurement/sampling gun (4) in the scanning range, and calculating to obtain the coordinates of P1 and P2.
2. The method for calibrating an elongated metallurgical tool based on laser ranging sensors according to claim 1, characterized in that when two laser ranging sensors (6) are provided, which are arranged side by side in alignment or side by side in offset manner, the moving and feeding distance d in step 3 is the installation distance of the two laser ranging sensors (6) arranged side by side in alignment or side by offset manner.
3. The method for calibrating the elongated metallurgical tool based on the laser ranging sensor as recited in claim 1, characterized in that in the step 5, the vector P is recorded as: p ═ P (P)1,p2,p3) The standard axis vector a is written as: a ═ a1,a2,a3) According to the form of shaft angle conversion, P is rotated by an angle of rotation R around the rotating shaft
So as to obtain the compound A,
wherein: rotation angle
Comprises the following steps:
the rotation axis R is:
unit vector R corresponding to rotation axis R0Comprises the following steps:
through the rodlike rotation formula, a rotation matrix T rotated from the vector P to the vector a is obtained as:
and obtaining corresponding Euler angles according to the sequence of the selected Euler angles, and realizing the positioning of the axis.
4. The method for calibrating the slender metallurgical tool based on the laser ranging sensor of claim 1, wherein in the step 5, the vector P2P1 on one bus is obtained theoretically only by coordinates of two points P1 and P2, and in practical application, a redundant point P3 is added as a check of the scanning result to determine the vector P2P 1.
5. The method for calibrating the slender metallurgy tool based on the laser ranging sensor is characterized in that in the step 7, the laser ranging sensor (6) is used for assisting in calibrating the verification result in the process that the temperature measuring/sampling tool (3) moves to search the TCP point, and the indication number of the laser ranging sensor (6) is used for detecting the reliability of the axial calibration result and the deformation of the standard temperature measuring/sampling gun (4).
6. An apparatus for calibrating an elongated metallurgical tool based on a laser ranging sensor, comprising: robot (1), a plurality of temperature/sampling tools (3) arranged on a flange plate at the end of the robot, a temperature/sampling gun (4) connected to the temperature/sampling tools, one or more laser distance measuring sensors (6), and a calibration device (7) located outside the laser distance measuring sensors (6), characterized in that the device performs calibration of the elongated tool using the calibration method according to any one of claims 1 to 5.
7. The device for calibrating the slender metallurgical tool based on the laser ranging sensor is characterized in that the laser ranging sensor (6) has a digital quantity detection function, and the detection range of the digital quantity/analog quantity of the laser ranging sensor (6) is selected according to the spatial dimension and the field spatial dimension of the temperature measuring/sampling tool (3).
8. The device for calibrating an elongated metallurgical tool based on a laser ranging sensor according to claim 7, characterized in that the laser ranging sensor (6) is shaped as an outline, three of which are designated as a-plane, B-plane and C-plane, and three of which are opposite to the three are designated as a-1-plane, B-1-plane and C-1-plane, respectively, wherein: the C surface is a laser emitting/receiving plane, and the laser ranging sensors (6) are arranged in a single installation mode, two side-by-side alignment installations, two side-by-side staggered installations or two orthogonal staggered installations.
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|---|---|---|---|
| CN202010578857.7A CN113834432B (en) | 2020-06-23 | 2020-06-23 | Device and method for calibrating slender metallurgical tool based on laser ranging sensor |
| US18/008,720 US20230221109A1 (en) | 2020-06-23 | 2021-06-23 | Device and method for calibrating elongated metallurgical tool based on laser ranging sensor |
| EP21827901.6A EP4145087A4 (en) | 2020-06-23 | 2021-06-23 | Device and method for calibrating elongated metallurgical tool based on laser ranging sensor |
| PCT/CN2021/101772 WO2021259313A1 (en) | 2020-06-23 | 2021-06-23 | Device and method for calibrating elongated metallurgical tool based on laser ranging sensor |
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| CN202010578857.7A CN113834432B (en) | 2020-06-23 | 2020-06-23 | Device and method for calibrating slender metallurgical tool based on laser ranging sensor |
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| CN113686238B (en) * | 2020-05-19 | 2022-07-19 | 宝山钢铁股份有限公司 | Method for realizing sleeve joint/pull-out detection of probe of automatic metallurgical temperature measuring gun |
| CN115537493B (en) * | 2022-09-23 | 2024-03-29 | 山东钢铁股份有限公司 | Molten iron temperature measurement sampling robot and control method thereof |
| CN115900798A (en) * | 2022-09-26 | 2023-04-04 | 成都飞机工业（集团）有限责任公司 | Calibration device and calibration detection method for aircraft skin hole-making main shaft tail end detection element |
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| EP4145087A1 (en) | 2023-03-08 |
| EP4145087A4 (en) | 2024-03-06 |
| WO2021259313A1 (en) | 2021-12-30 |
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